Advance Estimate-based Traffic State Synchronization for Parallel Testing

Digital twins and parallel system have already been regarded as one of the most effective approaches that give a great impetus to the development of transportation system, especially for the testing of vehicle intelligence. State synchronization, as the main influencer of real-time interaction in a parallel system, determines the testing accuracy and computational efficiency. Despite the fact that the synchronization control is already a well-explored field, the traffic state synchronization in the application of the vehicle testing via virtual-real interaction is still a topic for further research. In this paper, to achieve better synchronization, a path generation method based on the Frenet frame is firstly designed to decompose the object's motion into the longitudinal and lateral directions, and achieves the trajectory tracking based on the near real-time data sent from the physical space. Then to eliminate the stochastic latency, the advance estimate-based path modification method is proposed to generate a stretch of path in advance. Finally, the integrated approach is implemented in a testing platform and the experimental results prove that the proposed method improves the synchronous rate by an average of 78.4% and 63.7% in the scenario of straight driving and lane changing.